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Mechatronic Design
Approach
Some survey contributions describe the development of mechatronics; see [5–8]. An insight into general
aspects are given in the journals [4,9,10]; first conference proceedings in [11–15]; and the books [16–19].
Figure 2.2 shows a general scheme of a modern mechanical process like a power producing or a power
generating machine. A primary energy flows into the machine and is then either directly used for the
energy consumer in the case of an energy transformer, or converted into another energy form in the case
of an energy converter. The form of energy can be electrical, mechanical (potential or kinetic, hydraulic,
pneumatic), chemical, or thermal. Machines are mostly characterized by a continuous or periodic (repet-
itive) energy flow. For other mechanical processes, such as mechanical elements or precision mechanical
devices, piecewise or intermittent energy flows are typical.
The energy flow is generally a product of a generalized flow and a potential (effort). Information on
the state of the mechanical process can be obtained by measured generalized flows (speed, volume, or
mass flow) or electrical current or potentials (force, pressure, temperature, or voltage). Together with
reference variables, the measured variables are the inputs for an information flow through the digital
electronics resulting in manipulated variables for the actuators or in monitored variables on a display.
The addition and integration of feedback information flow to a feedforward energy flow in a basically
mechanical system is one characteristic of many mechatronic systems. This development presently influ-
ences the design of mechanical systems. Mechatronic systems can be subdivided into:
• mechatronic systems
• mechatronic machines
• mechatronic vehicles
• precision mechatronics
• micro mechatronics
This shows that the integration with electronics comprises many classes of technical systems. In several
cases, the mechanical part of the process is coupled with an electrical, thermal, thermodynamic, chemical,
or information processing part. This holds especially true for energy converters as machines where, in
addition to the mechanical energy, other kinds of energy appear. Therefore, mechatronic systems in a
wider sense comprise mechanical and also non-mechanical processes. However, the mechanical part
normally dominates the system.
Because an auxiliary energy is required to change the fixed properties of formerly passive mechanical
systems by feedforward or feedback control, these systems are sometimes also called active mechanical systems.
with fault diagnosis, optimization, and general process management. The respective problem solutions
result in real-time algorithms which must be adapted to the mechanical process properties, expressed by
mathematical models in the form of static characteristics, or differential equations. Therefore, a knowledge
base is required, comprising methods for design and information gaining, process models, and perfor-
mance criteria. In this way, the mechanical parts are governed in various ways through higher level
information processing with intelligent properties, possibly including learning, thus forming an integra-
tion by process-adapted software.
for maintenance or even redundancy actions, economic optimization, and coordination. The tasks of the
higher levels are sometimes summarized as “process management.”
Design Steps
Table 2.3 shows five important development steps for mechatronic systems, starting from a purely
mechanical system and resulting in a fully integrated mechatronic system. Depending on the kind of
mechanical system, the intensity of the single development steps is different. For precision mechanical
devices, fairly integrated mechatronic systems do exist. The influence of the electronics on mechanical
elements may be considerable, as shown by adaptive dampers, anti-lock system brakes, and automatic
gears. However, complete machines and vehicles show first a mechatronic design of their elements, and
then slowly a redesign of parts of the overall structure as can be observed in the development of machine
tools, robots, and vehicle bodies.
3. Integration by information
processing (software
integration)
4. Redesign of mechanical
system
5. Creation of synergetic
effects
The size of a circle indicates the present intensity of the respective mechatronic devel-
opment step: large, medium, little.
equations, algebraic equations, and discontinuities. A recent description of the state of computer-aided
control system design can be found in [34]. For system simulation (and controller design), a variety of
program systems exist, like ACSL, SIMPACK, MATLAB/SIMULINK, and MATRIX-X. These simulation
techniques are valuable tools for design, as they allow the designer to study the interaction of components
and the variations of design parameters before manufacturing. They are, in general, not suitable for real-
time simulation.
Modeling Procedure
Mathematical process models for static and dynamic behavior are required for various steps in the design
of mechatronic systems, such as simulation, control design, and reconstruction of variables. Two ways
to obtain these models are theoretical modeling based on first (physical) principles and experimental
modeling (identification) with measured input and output variables. A basic problem of theoretical
modeling of mechatronic systems is that the components originate from different domains. There exists
a well-developed domain specific knowledge for the modeling of electrical circuits, multibody mechanical
systems, or hydraulic systems, and corresponding software packages. However, a computer-assisted general
methodology for the modeling and simulation of components from different domains is still missing [35].
The basic principles of theoretical modeling for system with energy flow are known and can be unified
for components from different domains as electrical, mechanical, and thermal (see [36–41]). The mod-
eling methodology becomes more involved if material flows are incorporated as for fluidics, thermody-
namics, and chemical processes.
FIGURE 2.7 Different schemes for an automobile (as required for drive-by-wire-longitudinal control): (a) scheme
of the components (construction map), (b) energy flow diagram (simplified), (c) multi-port diagram with flows and
potentials, (d) signal flow diagram for multi-ports.
artificial neural networks (multilayer perceptrons or radial-basis-functions) can be expanded for non-
linear dynamic processes [47].
Real-Time Simulation
Increasingly, real-time simulation is applied to the design of mechatronic systems. This is especially true
if the process, the hardware, and the software are developed simultaneously in order to minimize iterative
development cycles and to meet short time-to-market schedules. With regard to the required speed of
computation simulation methods, it can be subdivided into
1. simulation without (hard) time limitation,
2. real-time simulation, and
3. simulation faster than real-time.
Some application examples are given in Fig. 2.8. Herewith, real-time simulation means that the simulation
of a component is performed such that the input and output signals show the same time-dependent
values as the real, dynamically operating component. This becomes a computational problem for pro-
cesses which have fast dynamics compared to the required algorithms and calculation speed.
Different kinds of real-time simulation methods are shown in Fig. 2.9. The reason for the real-time
requirement is mostly that one part of the investigated system is not simulated but real. Three cases can
be distinguished:
1. The real process can be operated together with the simulated control by using hardware other than
the final hardware. This is also called “control prototyping.”
2. The simulated process can be operated with the real control hardware, which is called “hardware-
in-the-loop simulation.”
3. The simulated process is run with the simulated control in real time. This may be required if the
final hardware is not available or if a design step before the hardware-in-the-loop simulation is
considered.
Hardware-in-the-Loop Simulation
The hardware-in-the-loop simulation (HIL) is characterized by operating real components in connection
with real-time simulated components. Usually, the control system hardware and software is the real
system, as used for series production. The controlled process (consisting of actuators, physical processes,
and sensors) can either comprise simulated components or real components, as seen in Fig. 2.10(a). In
general, mixtures of the shown cases are realized. Frequently, some actuators are real and the process
and the sensors are simulated. The reason is that actuators and the control hardware very often form
one integrated subsystem or that actuators are difficult to model precisely and to simulate in real time.
(The use of real sensors together with a simulated process may require considerable realization efforts,
because the physical sensor input does not exist and must be generated artificially.) In order to change
or redesign some functions of the control hardware or software, a bypass unit can be connected to the
basic control hardware. Hence, hardware-in-the-loop simulators may also contain partially simulated
(emulated) control functions.
The advantages of the hardware-in-the-loop simulation are generally:
• design and testing of the control hardware and software without operating a real process (“moving
the process field into the laboratory”);
• testing of the control hardware and software under extreme environmental conditions in the
laboratory (e.g., high/low temperature, high accelerations and mechanical shocks, aggressive
media, electro-magnetic compatibility);
• testing of the effects of faults and failures of actuators, sensors, and computers on the overall system;
• operating and testing of extreme and dangerous operating conditions;
• reproducible experiments, frequently repeatable;
• easy operation with different man-machine interfaces (cockpit-design and training of operators);
and
• saving of cost and development time.
Control Prototyping
For the design and testing of complex control systems and their algorithms under real-time constraints,
a real-time controller simulation (emulation) with hardware (e.g., off-the-shelf signal processor) other
than the final series production hardware (e.g., special ASICS) may be performed. The process, the
actuators, and sensors can then be real. This is called control prototyping (Fig. 2.10(b)). However, parts
of the process or actuators may be simulated, resulting in a mixture of HIL-simulation and control
prototyping. The advantages are mainly:
• early development of signal processing methods, process models, and control system structure,
including algorithms with high level software and high performance off-the-shelf hardware;
• testing of signal processing and control systems, together with other design of actuators, process
parts, and sensor technology, in order to create synergetic effects;
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